<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Cheetah Software: test_LegController.cpp File Reference</title>
<link href="../../tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../jquery.js"></script>
<script type="text/javascript" src="../../dynsections.js"></script>
<link href="../../navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../resize.js"></script>
<script type="text/javascript" src="../../navtreedata.js"></script>
<script type="text/javascript" src="../../navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="../../search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../search/searchdata.js"></script>
<script type="text/javascript" src="../../search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="../../doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Cheetah Software
   &#160;<span id="projectnumber">1.0</span>
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "../../search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="../../index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="../../namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="../../annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="../../files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="../../search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="../../search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="../../files.html"><span>File&#160;List</span></a></li>
      <li><a href="../../globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('d6/dbf/test___leg_controller_8cpp.html','../../');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#func-members">Functions</a>  </div>
  <div class="headertitle">
<div class="title">test_LegController.cpp File Reference</div>  </div>
</div><!--header-->
<div class="contents">
<div class="textblock"><code>#include &quot;<a class="el" href="../../d0/d41/_leg_controller_8h_source.html">Controllers/LegController.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d8/db6/_mini_cheetah_8h_source.html">Dynamics/MiniCheetah.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Dynamics/Quadruped.h</a>&quot;</code><br />
<code>#include &quot;gmock/gmock.h&quot;</code><br />
<code>#include &quot;gtest/gtest.h&quot;</code><br />
</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-0-trigger" src="../../closed.png" alt="+"/> Include dependency graph for test_LegController.cpp:</div>
<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-0-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../de/deb/test___leg_controller_8cpp__incl.png" border="0" usemap="#test___leg_controller_8cpp" alt=""/></div>
<map name="test___leg_controller_8cpp" id="test___leg_controller_8cpp">
</map>
</div>
</div>
<p><a href="../../d6/dbf/test___leg_controller_8cpp_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:af6c396fd97b5e937780513c027e0f6e8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/dbf/test___leg_controller_8cpp.html#af6c396fd97b5e937780513c027e0f6e8">TEST</a> (<a class="el" href="../../d0/d96/class_leg_controller.html">LegController</a>, JacobianAndFwdKinematics1)</td></tr>
<tr class="separator:af6c396fd97b5e937780513c027e0f6e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5af6f6d4060d5f62906cb37c8e0f4a59"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/dbf/test___leg_controller_8cpp.html#a5af6f6d4060d5f62906cb37c8e0f4a59">TEST</a> (<a class="el" href="../../d0/d96/class_leg_controller.html">LegController</a>, JacobianAndFwdKinematics2)</td></tr>
<tr class="separator:a5af6f6d4060d5f62906cb37c8e0f4a59"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a95cf1a8162632fa145468a338ba19333"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/dbf/test___leg_controller_8cpp.html#a95cf1a8162632fa145468a338ba19333">TEST</a> (<a class="el" href="../../d0/d96/class_leg_controller.html">LegController</a>, FwdKinematicsLegSign)</td></tr>
<tr class="separator:a95cf1a8162632fa145468a338ba19333"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Todo: it would be nice to test these against the full dynamics model! </p>

<p>Definition in file <a class="el" href="../../d6/dbf/test___leg_controller_8cpp_source.html">test_LegController.cpp</a>.</p>
</div><h2 class="groupheader">Function Documentation</h2>
<a class="anchor" id="af6c396fd97b5e937780513c027e0f6e8"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">TEST </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d0/d96/class_leg_controller.html">LegController</a>&#160;</td>
          <td class="paramname">, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">JacobianAndFwdKinematics1&#160;</td>
          <td class="paramname">&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Test jacobian by verifying that fwd_kin(q + dq) = fwd_kin(q) + J * qd </p>

<p>Definition at line <a class="el" href="../../d6/dbf/test___leg_controller_8cpp_source.html#l00015">15</a> of file <a class="el" href="../../d6/dbf/test___leg_controller_8cpp_source.html">test_LegController.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, and <a class="el" href="../../da/d2d/_leg_controller_8cpp_source.html#l00240">computeLegJacobianAndPosition()</a>.</p>
<div class="fragment"><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;                                               {</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;double&gt;</a> quadruped = buildMiniCheetah&lt;double&gt;();</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> q0(1, 2, 3);</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> dq(.001, .002, -.001);</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> J;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> p0, p1Ref, p1;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> q1 = q0 + dq;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="../../d0/d41/_leg_controller_8h.html#ab89026e04e11b835c2c981ff9048e1c3">computeLegJacobianAndPosition</a>(quadruped, q0, &amp;J, &amp;p0, 0);</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="../../d0/d41/_leg_controller_8h.html#ab89026e04e11b835c2c981ff9048e1c3">computeLegJacobianAndPosition</a>(quadruped, q1, (<a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a>*)<span class="keyword">nullptr</span>, &amp;p1Ref,</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                                0);</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  p1 = p0 + J * dq;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(p1, p1Ref, .001 * .001));</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;}</div><div class="ttc" id="_leg_controller_8h_html_ab89026e04e11b835c2c981ff9048e1c3"><div class="ttname"><a href="../../d0/d41/_leg_controller_8h.html#ab89026e04e11b835c2c981ff9048e1c3">computeLegJacobianAndPosition</a></div><div class="ttdeci">void computeLegJacobianAndPosition(Quadruped&lt; T &gt; &amp;quad, Vec3&lt; T &gt; &amp;q, Mat3&lt; T &gt; *J, Vec3&lt; T &gt; *p, int leg)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d2d/_leg_controller_8cpp_source.html#l00240">LegController.cpp:240</a></div></div>
<div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped&lt; double &gt;</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
</div><!-- fragment -->
<p><div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-1-trigger" src="../../closed.png" alt="+"/> Here is the call graph for this function:</div>
<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-1-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../d6/dbf/test___leg_controller_8cpp_af6c396fd97b5e937780513c027e0f6e8_cgraph.png" border="0" usemap="#d6/dbf/test___leg_controller_8cpp_af6c396fd97b5e937780513c027e0f6e8_cgraph" alt=""/></div>
<map name="d6/dbf/test___leg_controller_8cpp_af6c396fd97b5e937780513c027e0f6e8_cgraph" id="d6/dbf/test___leg_controller_8cpp_af6c396fd97b5e937780513c027e0f6e8_cgraph">
</map>
</div>
</p>

</div>
</div>
<a class="anchor" id="a5af6f6d4060d5f62906cb37c8e0f4a59"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">TEST </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d0/d96/class_leg_controller.html">LegController</a>&#160;</td>
          <td class="paramname">, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">JacobianAndFwdKinematics2&#160;</td>
          <td class="paramname">&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Test jacobian by finding it analytically </p>

<p>Definition at line <a class="el" href="../../d6/dbf/test___leg_controller_8cpp_source.html#l00035">35</a> of file <a class="el" href="../../d6/dbf/test___leg_controller_8cpp_source.html">test_LegController.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, and <a class="el" href="../../da/d2d/_leg_controller_8cpp_source.html#l00240">computeLegJacobianAndPosition()</a>.</p>
<div class="fragment"><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                                               {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;double&gt;</a> quadruped = buildMiniCheetah&lt;double&gt;();</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> q0(4, 5, 6);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> p0;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> Jref;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> J;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <a class="code" href="../../d0/d41/_leg_controller_8h.html#ab89026e04e11b835c2c981ff9048e1c3">computeLegJacobianAndPosition</a>(quadruped, q0, &amp;Jref, &amp;p0, 0);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keywordtype">double</span> d = .001;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> dim = 0; dim &lt; 3; dim++) {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> dq = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;::Zero</a>();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    dq(dim) = d;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> q1 = q0 + dq;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> p1;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <a class="code" href="../../d0/d41/_leg_controller_8h.html#ab89026e04e11b835c2c981ff9048e1c3">computeLegJacobianAndPosition</a>(quadruped, q1, (<a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a>*)<span class="keyword">nullptr</span>, &amp;p1,</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                                  0);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> dp = p1 - p0;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    J.block&lt;3, 1&gt;(0, dim) = dp / d;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  }</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(J, Jref, .001));</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div><div class="ttc" id="_leg_controller_8h_html_ab89026e04e11b835c2c981ff9048e1c3"><div class="ttname"><a href="../../d0/d41/_leg_controller_8h.html#ab89026e04e11b835c2c981ff9048e1c3">computeLegJacobianAndPosition</a></div><div class="ttdeci">void computeLegJacobianAndPosition(Quadruped&lt; T &gt; &amp;quad, Vec3&lt; T &gt; &amp;q, Mat3&lt; T &gt; *J, Vec3&lt; T &gt; *p, int leg)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d2d/_leg_controller_8cpp_source.html#l00240">LegController.cpp:240</a></div></div>
<div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped&lt; double &gt;</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
</div><!-- fragment -->
<p><div id="dynsection-2" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-2-trigger" src="../../closed.png" alt="+"/> Here is the call graph for this function:</div>
<div id="dynsection-2-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-2-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../d6/dbf/test___leg_controller_8cpp_a5af6f6d4060d5f62906cb37c8e0f4a59_cgraph.png" border="0" usemap="#d6/dbf/test___leg_controller_8cpp_a5af6f6d4060d5f62906cb37c8e0f4a59_cgraph" alt=""/></div>
<map name="d6/dbf/test___leg_controller_8cpp_a5af6f6d4060d5f62906cb37c8e0f4a59_cgraph" id="d6/dbf/test___leg_controller_8cpp_a5af6f6d4060d5f62906cb37c8e0f4a59_cgraph">
</map>
</div>
</p>

</div>
</div>
<a class="anchor" id="a95cf1a8162632fa145468a338ba19333"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">TEST </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d0/d96/class_leg_controller.html">LegController</a>&#160;</td>
          <td class="paramname">, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">FwdKinematicsLegSign&#160;</td>
          <td class="paramname">&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Check that the foot is in the right spot when all joints are at zero </p>

<p>Definition at line <a class="el" href="../../d6/dbf/test___leg_controller_8cpp_source.html#l00062">62</a> of file <a class="el" href="../../d6/dbf/test___leg_controller_8cpp_source.html">test_LegController.cpp</a>.</p>

<p>References <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped&lt; T &gt;::_abadLinkLength</a>, <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped&lt; T &gt;::_hipLinkLength</a>, <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped&lt; T &gt;::_kneeLinkLength</a>, <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, and <a class="el" href="../../da/d2d/_leg_controller_8cpp_source.html#l00240">computeLegJacobianAndPosition()</a>.</p>
<div class="fragment"><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                                          {</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;double&gt;</a> quadruped = buildMiniCheetah&lt;double&gt;();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> q(0, 0, 0);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> p;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="../../d0/d41/_leg_controller_8h.html#ab89026e04e11b835c2c981ff9048e1c3">computeLegJacobianAndPosition</a>(quadruped, q, (<a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a>*)<span class="keyword">nullptr</span>, &amp;p, 0);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> pRef(0, -quadruped.<a class="code" href="../../dc/d66/class_quadruped.html#add43dcb4994e6e31375c4515e8de397d">_abadLinkLength</a>,</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                    -quadruped.<a class="code" href="../../dc/d66/class_quadruped.html#a2b1208249b4fa5e9dc3b08916fae04c7">_hipLinkLength</a> - quadruped.<a class="code" href="../../dc/d66/class_quadruped.html#ae752ca0d75b7e1ae759c1285be62d068">_kneeLinkLength</a>);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(pRef, p, .00001));</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <a class="code" href="../../d0/d41/_leg_controller_8h.html#ab89026e04e11b835c2c981ff9048e1c3">computeLegJacobianAndPosition</a>(quadruped, q, (<a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a>*)<span class="keyword">nullptr</span>, &amp;p, 1);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> pRef2(0, quadruped.<a class="code" href="../../dc/d66/class_quadruped.html#add43dcb4994e6e31375c4515e8de397d">_abadLinkLength</a>,</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                     -quadruped.<a class="code" href="../../dc/d66/class_quadruped.html#a2b1208249b4fa5e9dc3b08916fae04c7">_hipLinkLength</a> - quadruped.<a class="code" href="../../dc/d66/class_quadruped.html#ae752ca0d75b7e1ae759c1285be62d068">_kneeLinkLength</a>);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(pRef2, p, .00001));</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;}<div class="ttc" id="_leg_controller_8h_html_ab89026e04e11b835c2c981ff9048e1c3"><div class="ttname"><a href="../../d0/d41/_leg_controller_8h.html#ab89026e04e11b835c2c981ff9048e1c3">computeLegJacobianAndPosition</a></div><div class="ttdeci">void computeLegJacobianAndPosition(Quadruped&lt; T &gt; &amp;quad, Vec3&lt; T &gt; &amp;q, Mat3&lt; T &gt; *J, Vec3&lt; T &gt; *p, int leg)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d2d/_leg_controller_8cpp_source.html#l00240">LegController.cpp:240</a></div></div>
<div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped&lt; double &gt;</a></div></div>
<div class="ttc" id="class_quadruped_html_a2b1208249b4fa5e9dc3b08916fae04c7"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a2b1208249b4fa5e9dc3b08916fae04c7">Quadruped::_hipLinkLength</a></div><div class="ttdeci">T _hipLinkLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_quadruped_html_ae752ca0d75b7e1ae759c1285be62d068"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#ae752ca0d75b7e1ae759c1285be62d068">Quadruped::_kneeLinkLength</a></div><div class="ttdeci">T _kneeLinkLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="class_quadruped_html_add43dcb4994e6e31375c4515e8de397d"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#add43dcb4994e6e31375c4515e8de397d">Quadruped::_abadLinkLength</a></div><div class="ttdeci">T _abadLinkLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
</div><!-- fragment -->
<p><div id="dynsection-3" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-3-trigger" src="../../closed.png" alt="+"/> Here is the call graph for this function:</div>
<div id="dynsection-3-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-3-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../d6/dbf/test___leg_controller_8cpp_a95cf1a8162632fa145468a338ba19333_cgraph.png" border="0" usemap="#d6/dbf/test___leg_controller_8cpp_a95cf1a8162632fa145468a338ba19333_cgraph" alt=""/></div>
<map name="d6/dbf/test___leg_controller_8cpp_a95cf1a8162632fa145468a338ba19333_cgraph" id="d6/dbf/test___leg_controller_8cpp_a95cf1a8162632fa145468a338ba19333_cgraph">
</map>
</div>
</p>

</div>
</div>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="../../dir_43e0a1f539e00dcfa1a6bc4d4fee4fc2.html">home</a></li><li class="navelem"><a class="el" href="../../dir_61bfb0b3cdda81b1b0355ba34eb3b1eb.html">dhkim</a></li><li class="navelem"><a class="el" href="../../dir_adee5b101e079090017bb4e91c628ead.html">Public_Repository</a></li><li class="navelem"><a class="el" href="../../dir_7fc07a7b97001e7b1d18e11da761e2de.html">Cheetah-Software</a></li><li class="navelem"><a class="el" href="../../dir_860379c26524a894b3cf97b5b1ba5bdb.html">common</a></li><li class="navelem"><a class="el" href="../../dir_bcd721272d4e8dced7bf80a08d191b42.html">test</a></li><li class="navelem"><a class="el" href="../../d6/dbf/test___leg_controller_8cpp.html">test_LegController.cpp</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="../../doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
